def main():
vrep.simxFinish(-1) # just in case, close all opened connections
client_id = vrep.simxStart('127.0.0.1', 19997, True, True, 5000,
5) # Connect to V-REP
if client_id < 0:
print('Failed connecting to remote API server')
return -1
print('Connected to remote API server')
# Define RL elements
environment = StandingUpEnvironment(client_id)
task = StandingUpTask(environment)
controller = ActionValueTable(task.get_state_space_size(),
task.get_action_space_size())
controller.initialize(1.)
file = open('standing-up-q.pkl', 'rb')
controller._params = pickle.load(file)
file.close()
# learner = Q()
agent = LearningAgent(controller)
experiment = EpisodicExperiment(task, agent)
i = 0
while True:
i += 1
print('Iteration n° ' + str(i))
experiment.doEpisodes(1)
vrep.simxFinish(client_id)
